Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots

摘要

The humanoid robot, one of the ideal unmanned systems, has the potential to perform tasks currently carried out by human workers in industry, manufacturing, service, and disaster response. In such complicated environments with unknown disturbances, compliance is important for a humanoid robot, especially a position-controlled one, to maintain balance while performing a task. This article presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to unknown external disturbances while standing or walking. This method comprises two independent controllers. One controller, which is based on a linear inverted pendulum with a flywheel, is used to realize compliant behavior by controlling the torso postures according to the zero moment point. The other controller, which is based on a double inverted pendulum, is adopted to obtain the dynamic torso movements as well as maintain balance through a quadratic-programming-based controller. With the proposed method, controls for compliance and balance are decoupled, and a position-controlled robot can perform dynamic torso compliance and maintain balance while standing or walking. The performance of the proposed method is validated by simulations and experiments on a position-controlled humanoid robot (BHR-T).